CameraController Class Reference

an interface for controlling the camera using a mouse. More...

#include <CameraController.hpp>

Inherited by ArcBallController, and FixedAxisController.

Public Types
typedef rw::core::Ptr< CameraController >	Ptr
	smart pointer type of this class

Public Member Functions
virtual	~CameraController ()
	destructor
virtual void	setBounds (double NewWidth, double NewHeight)=0
	set the bounds that define the area where the 2d point is valid. The bound is defined in a plane with [0,width] and [0,height]. Where (0,0) is the upper left corner of the plane. More...
virtual void	setCenter (const rw::math::Vector3D<> &center, const rw::math::Vector2D<> &screenCenter)=0
	update the center of rotation and screen center More...
virtual void	handleEvent (QEvent *event)=0
	event handler, typically mouse and keyboard More...
virtual void	setTransform (const rw::math::Transform3D<> &t3d)=0
	set world to camera transformation More...
virtual rw::math::Transform3D	getTransform () const =0
	get the current world to camera transformation More...
virtual rw::math::Vector3D	getCenter ()=0
	get the current pivot point in world coordinates More...
virtual void	draw ()=0
	draw the camera control.
virtual void	zoom (double amount)=0
	Zoom by amount specified by amount. More...
virtual void	autoZoom (rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< const rw::kinematics::State > state, double fovy, double aspectRatio)=0
	Zooms the camera to fit all devices into the camera view. More...
virtual void	setZoomTarget (rw::math::Vector3D< double > target, bool enable=true)
	set the 3D coordinate that should be zoomed towards. More...
virtual void	setPanTarget (rw::math::Vector3D< double > target, bool enable=true)
	set the 3D coordinate that should be moved. More...
virtual rw::math::Vector3D	getPanTarget ()
	get the 3D coordinate that should be moved. More...
virtual void	setDrawable (rw::graphics::DrawableNode::Ptr obj)
	add a drawable to the camera controller More...

Detailed Description

an interface for controlling the camera using a mouse.

Member Function Documentation

autoZoom()

virtual void autoZoom ( rw::core::Ptr< rw::models::WorkCell >  workcell, rw::core::Ptr< const rw::kinematics::State >  state, double  fovy, double  aspectRatio  )

pure virtual

Zooms the camera to fit all devices into the camera view.

Useful when working with robots smaller or larger than standard. Calling this method moves the camera along its Z-axis.

Parameters

workcell	[in] The autozoom functions fits all frames of workcell in the viewport
state	[in] state with the current positions of the frames. If NULL, the default workcell state is used.
fovy	[in] the field of view in the vertical direction (in radians).
aspectRatio	[in] the aspect ratio of (width divided by height).

Implemented in ArcBallController.

getCenter()

virtual rw::math::Vector3D getCenter ( )

pure virtual

get the current pivot point in world coordinates

Returns

current pivot point

Implemented in FixedAxisController, and ArcBallController.

getPanTarget()

virtual rw::math::Vector3D getPanTarget ( )

inlinevirtual

get the 3D coordinate that should be moved.

Returns

the target position to move.

Reimplemented in ArcBallController.

getTransform()

virtual rw::math::Transform3D getTransform ( ) const

pure virtual

get the current world to camera transformation

Returns

world to camera transformation

Implemented in FixedAxisController, and ArcBallController.

handleEvent()

virtual void handleEvent ( QEvent *  event )

pure virtual

event handler, typically mouse and keyboard

Parameters

event

[in] the specific event

Implemented in FixedAxisController, and ArcBallController.

setBounds()

virtual void setBounds ( double  NewWidth, double  NewHeight  )

pure virtual

set the bounds that define the area where the 2d point is valid. The bound is defined in a plane with [0,width] and [0,height]. Where (0,0) is the upper left corner of the plane.

Parameters

NewWidth	[in] width
NewHeight	[in] height

Implemented in ArcBallController.

setCenter()

virtual void setCenter ( const rw::math::Vector3D<> &  center, const rw::math::Vector2D<> &  screenCenter  )

pure virtual

update the center of rotation and screen center

Parameters

center	[in] center of rotation in world coordinates
screenCenter	[in] center of rotation in screen coordinates

Implemented in FixedAxisController, and ArcBallController.

setDrawable()

virtual void setDrawable ( rw::graphics::DrawableNode::Ptr  obj )

inlinevirtual

add a drawable to the camera controller

Parameters

obj	[in] a drawable to be controled by the camera controller

Reimplemented in ArcBallController.

setPanTarget()

virtual void setPanTarget ( rw::math::Vector3D< double >  target, bool  enable = true  )

inlinevirtual

set the 3D coordinate that should be moved.

Parameters

target	[in] the target position to move.
enable	[in] enable or disable pan with pantarget.

Reimplemented in ArcBallController.

setTransform()

virtual void setTransform ( const rw::math::Transform3D<> &  t3d )

pure virtual

set world to camera transformation

Parameters

t3d	[in] world to camera transformation

Implemented in FixedAxisController, and ArcBallController.

setZoomTarget()

virtual void setZoomTarget ( rw::math::Vector3D< double >  target, bool  enable = true  )

inlinevirtual

set the 3D coordinate that should be zoomed towards.

Parameters

target	[in] the target position to zoom towards.
enable	[in] enable or disable zoom with zoomtarget.

Reimplemented in ArcBallController.

zoom()

virtual void zoom ( double  amount )

pure virtual

Zoom by amount specified by amount.

Calling this method moves the camera along its Z-axis.

Parameters

amount

[in] Meters to zoom the camera

Implemented in ArcBallController.

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The documentation for this class was generated from the following file:

• CameraController.hpp